Arjuna said: Krishna, you extol sankhyayoga (the yoga of knowledge) and then the yoga of action. I pray to you, please tell me which of the two is decidedly conducive to my good.
Lord Krishna said: The yoga of knowledge and the yoga of action both lead to supreme bliss. Of the two, however, the yoga of action being easier to practice is superior to the yoga of knowledge. The (supreme) state which is reached by the sankhyayoga is also attained by the karamayoga. Therefore, he alone who sees sankhyayoga and karmayog as identical so far as their result goes, sees truly. Sankhyayoga is difficult to accomplish whereas the karmayogi who keeps his mind fixed on god reaches brahma in no time.
The karmayogi who has fully conquered his mind and mastered his senses, whose heart is pure and who has identified himself with the self of all beings (viz. god) remains untainted even though performing action. However, the sankhyayogi who knows the reality of things must believe that he does nothing even though seeing, hearing, touching, smelling, eating, drinking, walking, sleeping, breathing, speaking, answering the calls of nature, grasping and opening-closing the eyes, holding that it is the senses alone that are moving among their objects. Offering the fruit of actions to god , the karamayoga attains everlasting peace in the form of god-realisation whereas he who works with a selfish motive being attached to the fruit of actions through desire gets tied down. The self-controlled sankhyayogi doing nothing himself and getting nothing done by others rests happily in god.
The pleasures which are born of sense - contacts are verily a source of suffering only though appearing as enjoyable to worldly - minded people. They have a beginning and an end, they come and go. It is for this reason that a wise man does not indulge in them. He who is happy within himself enjoys within himself the delight of the soul and even so is illumined by the inner light, such a yoga (sankhyayoga) identifed with brahma attains brahma who is all peace. Having known me in reality as the enjoyer of all sacrifices and austerities and as the supreme lord of all the worlds and the selfless friend of all beings, my devotee attains peace.